Control 3 servos using sensor_msgs/JointState
Hi !!
I try to control three servos in an Arduino board using sensor_msgs/JointState to send the position. I write this code for two servos and they work well, but when i include one more servo.write into the void function i don't get any error and the compilation is right but they don't work and i don't know what is wrong.
ros::NodeHandle nh;
sensor_msgs::JointState giro;
Servo servo,servo1,servo2;
void servo_cb( const sensor_msgs::JointState &giro)
{
servo.write((int)giro.position[0]);
servo1.write((int)giro.position[1]);
servo2.write((int)giro.position[2]);
}
Please replay if you know, i need help with the final project of my career. THANKS!! ;)
ros::Subscriber<sensor_msgs::jointstate> sub("servo", servo_cb);
void setup()
{
pinMode(13, OUTPUT);
nh.initNode();
nh.subscribe(sub);
servo2.attach(11);
servo.attach(9);
servo1.attach(8);
}
void loop() {
nh.spinOnce();
delay(1);
}
What arduino board are you using?